\section{Conclusions and Recommendations}
\label{sec:Conclusion}

\subsection{Conclusions}
The JIWY controller provides adequate object recognition and responsive control. The different system components that were defined did function well as a unit, and once merged into a system, behaved as was expected.

Reflecting back on the design choices that were made, it can be stated that the design choices on the Encoder, PWM, Controller and Communication components were good, since both the performance and the accuracy of those components is good. In addition, from the Controller it has been shown that the controller (on the Gumstix side) is close to instability which means that the JIWY is actuated as fast as possible.

From the other components Webcam readout and Object tracking, it can be said that the performance is well, but the accuracy of the two can possibly be better, such that the position difference that is sent to the NIOS is more accurate.

\subsection{Recommendations}
In the absent of orange objects, the JIWY will, in the current setting, sit still and wait until an object arrives. However, in reality it can occur that an object is within the physical range of the JIWY but is not seen because the JIWY is waiting until that particular object enters the line of sight. This phenomenon can be overcome using an exploration state, in which the JIWY will follow some predefined behaviour in an attempt to find an object to follow. This can for example be implemented by sending a new Exploration packet from the Gumstix to the NIOS indicating that the exploration state must be entered, where as a result, the NIOS state machine will enter the exploration state and start moving.

Other improvements that are possible include the recognition of two different objects. Right now, when two objects are in the screen, it will see it as one object, which means that it will not center on one object. An algorithm could be implemented to always track the largest orange object on the screen.

Last, more complex objects could be tracked. For example, an algorithm could be added to track objects consisting of several different colors or different shapes (rectangle, triangle etc.). Of course, one great addition would be face recognition, however this would require quite some effort to implement. However, given the processor power on the Gumstix, this would certainly be possible.